float64 lateral_speed 
float64 beta
float64 yaw_rate
float64 lateral_error
float64 heading_error
float64 speed_gama
float64 kappa
float64 lambda
float64 tire_f_angle_cmd
float64 f_alpha
float64 r_alpha

float64 vy_ref
float64 beta_ref 
float64 yaw_rate_ref
float64 lateral_error_ref
float64 heading_error_ref
float64 speed_gama_ref
float64 f_angle_ref

float64 vy_esti
float64 yaw_rate_esti
float64 acc_y_distur
float64 acc_yaw_distur



